Hi,
I am using arduino to run BLDC motor. According to the code the motor constantly mover 360 degrees untill i give stop/off comand. But i just want to stop the motor after one 360 degree rotation. Below is my code for the motor. Please help me with this query.
Regards,
Mustufa Trivedi
//
// Slow and precise BLDC motor driver using SPWM and SVPWM modulation
// Part of code used from http://elabz.com/
// (c) 2015 Ignas Gramba www.berryjam.eu
//
const int EN1 = 5;
const int EN2 = 6;
const int EN3 = 7;
const int IN1 = 9;
const int IN2 = 10;
const int IN3 = 11;
const int LEDpin = 13;
char input= 255;
// SPWM (Sine Wave)
//const int pwmSin[] = {127, 138, 149, 160, 170, 181, 191, 200, 209, 217, 224, 231, 237, 242, 246, 250, 252, 254, 254, 254, 252, 250, 246, 242, 237, 231, 224, 217, 209, 200, 191, 181, 170, 160, 149, 138, 127, 116, 105, 94, 84, 73, 64, 54, 45, 37, 30, 23, 17, 12, 8, 4, 2, 0, 0, 0, 2, 4, 8, 12, 17, 23, 30, 37, 45, 54, 64, 73, 84, 94, 105, 116 };
/// SVPWM (Space Vector Wave)
//const int pwmSin[] = {128, 147, 166, 185, 203, 221, 238, 243, 248, 251, 253, 255, 255, 255, 253, 251, 248, 243, 238, 243, 248, 251, 253, 255, 255, 255, 253, 251, 248, 243, 238, 221, 203, 185, 166, 147, 128, 109, 90, 71, 53, 35, 18, 13, 8, 5, 3, 1, 1, 1, 3, 5, 8, 13, 18, 13, 8, 5, 3, 1, 1, 1, 3, 5, 8, 13, 18, 35, 53, 71, 90, 109};
const int pwmSin[] = {128, 132, 136, 140, 143, 147, 151, 155, 159, 162, 166, 170, 174, 178, 181, 185, 189, 192, 196, 200, 203, 207, 211, 214, 218, 221, 225, 228, 232, 235, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 235, 232, 228, 225, 221, 218, 214, 211, 207, 203, 200, 196, 192, 189, 185, 181, 178, 174, 170, 166, 162, 159, 155, 151, 147, 143, 140, 136, 132, 128, 124, 120, 116, 113, 109, 105, 101, 97, 94, 90, 86, 82, 78, 75, 71, 67, 64, 60, 56, 53, 49, 45, 42, 38, 35, 31, 28, 24, 21, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 21, 24, 28, 31, 35, 38, 42, 45, 49, 53, 56, 60, 64, 67, 71, 75, 78, 82, 86, 90, 94, 97, 101, 105, 109, 113, 116, 120, 124};
//const int pwmSin[]= { 64,66,68,70,72,74,76,78,80,81,83,85,87,89,91,93,95,96,98,100,102,104,106,107,109,111,113,114,116,118,119,120,120,121,121,122,122,123,123,124,124,124,125,125,125,126,126,126,127,127,127,127,127,127,128,128,128,128,128,128,128,128,128,128,128,128,128,127,127,127,127,127,127,126,126,126,125,125,125,124,124,124,123,123,122,122,121,121,120,120,119,120,120,121,121,122,122,123,123,124,124,124,125,125,125,126,126,126,127,127,127,127,127,127,128,128,128,128,128,128,128,128,128,128,128,128,128,127,127,127,127,127,127,126,126,126,125,125,125,124,124,124,123,123,122,122,121,121,120,120,119,118,116,114,113,111,109,107,106,104,102,100,98,96,95,93,91,89,87,85,83,81,80,78,76,74,72,70,68,66,64,62,60,58,57,55,53,51,49,47,45,43,41,39,38,36,34,32,30,28,27,25,23,21,19,18,16,14,12,11,9,9,8,8,7,7,6,6,5,5,4,4,4,3,3,3,2,2,2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,3,3,3,4,4,4,5,5,6,6,7,7,8,8,9,9,9,8,8,7,7,6,6,5,5,4,4,4,3,3,3,2,2,2,2,2,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,2,2,2,2,3,3,3,4,4,4,5,5,6,6,7,7,8,8,9,9,11,12,14,16,18,19,21,23,25,27,28,30,32,34,36,38,39,41,43,45,47,49,51,53,55,57,58,60,62};
int currentStepA;
int currentStepB;
int currentStepC;
int sineArraySize;
int increment = 0;
boolean direct = 1; // direction true=forward, false=backward
int run_flag=0;
//////////////////////////////////////////////////////////////////////////////
void setup() {
pinMode(LEDpin, OUTPUT);
digitalWrite(LEDpin, LOW); // LED OFF
delay(1000);
digitalWrite(LEDpin, HIGH); // LED ON
Serial.begin(9600);
Serial.print("start \n");
setPwmFrequency(IN1); // Increase PWM frequency to 32 kHz (make unaudible)
setPwmFrequency(IN2);
setPwmFrequency(IN3);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(EN1, OUTPUT);
pinMode(EN2, OUTPUT);
pinMode(EN3, OUTPUT);
digitalWrite(EN1, LOW);
digitalWrite(EN2, LOW);
digitalWrite(EN3, LOW);
sineArraySize = sizeof(pwmSin)/sizeof(int); // Find lookup table size
int phaseShift = sineArraySize / 3; // Find phase shift and initial A, B C phase values
currentStepA = 0;
currentStepB = currentStepA + phaseShift;
currentStepC = currentStepB + phaseShift;
sineArraySize--; // Convert from array Size to last PWM array number
int chek = 143/2;
Serial.print(chek);
}
//////////////////////////////////////////////////////////////////////////////
void loop() {
// if there's any serial available, read it:
if (Serial.available() > 0)
{
//Serial.println(Serial.read());
input = Serial.read();
//Serial.println(input-0x30, HEX);
//Serial.print("\t");
Serial.print(input);
Serial.print("\n");
}
switch(input)
{
case '1':
digitalWrite(LEDpin, LOW); // LED OFF
// analogWrite(IN1, 0);
// analogWrite(IN2, 128);
// analogWrite(IN3, 255);
break;
case '2':
digitalWrite(LEDpin, HIGH); // LED ON
run_flag =1;
// analogWrite(IN1, 50);
// analogWrite(IN2, 255);
// analogWrite(IN3, 100);
digitalWrite(EN1, HIGH);
digitalWrite(EN2, HIGH);
digitalWrite(EN3, HIGH);
Serial.print("All ON \n");
break;
case '3':
digitalWrite(LEDpin, LOW); // LED OFF
digitalWrite(EN1, LOW);
digitalWrite(EN2, LOW);
digitalWrite(EN3, LOW);
analogWrite(IN1, 0);
analogWrite(IN2, 0);
analogWrite(IN3, 0);
run_flag =0;
Serial.print("All OFF \n");
break;
case '8' :
direct=1;
Serial.print("FORWRD \n");
break;
case '9' :
direct=0;
Serial.print("REVRSE \n");
break;
}
input =255;
if(run_flag ==1)
{
analogWrite(IN1, pwmSin[currentStepA]);
analogWrite(IN2, pwmSin[currentStepB]);
analogWrite(IN3, pwmSin[currentStepC]);
if (direct==true) increment = 1;
else increment = -1;
currentStepA = currentStepA + increment;
currentStepB = currentStepB + increment;
currentStepC = currentStepC + increment;
//Check for lookup table overflow and return to opposite end if necessary
if(currentStepA > sineArraySize) currentStepA = 0;
if(currentStepA < 0) currentStepA = sineArraySize;
if(currentStepB > sineArraySize) currentStepB = 0;
if(currentStepB < 0) currentStepB = sineArraySize;
if(currentStepC > sineArraySize) currentStepC = 0;
if(currentStepC < 0) currentStepC = sineArraySize;
/// Control speed by this delay
delay(1);
}
}
void setPwmFrequency(int pin) {
if(pin == 5 || pin == 6 || pin == 9 || pin == 10) {
if(pin == 5 || pin == 6) {
TCCR0B = TCCR0B & 0b11111000 | 0x01;
} else {
TCCR1B = TCCR1B & 0b11111000 | 0x01;
}
}
else if(pin == 3 || pin == 11) {
TCCR2B = TCCR2B & 0b11111000 | 0x01;
}
}
